Design of a Novel Force-Reflecting Haptic Device for Minimally Invasive Surgery Robot

摘要：

　　Minimally Invasive Surgery (MIS) is becoming recognized as a most respected approach in performing surgeries due to its benefits to both patients and surgeons.And in the master-slave robotic MIS system,Haptic device has an essential part to play because it provides the sense of touch for the surgeon who aims to position the objects inside a patient’s body.This paper attempts to present a novel cable-driven 6-DOF serial force-reflecting haptic device for robotic MIS system.The kinematic analysis of the haptic device is performed by using a modified D-H method.Workspace is also analyzed according to the actual working condition.Simulation experiment proves that the haptic device is dexterous enough.

关键词： MIS robot Haptic device Kinematics Workspace

作者: Jinxing Qu Jinhua Li Linan Zhang Ke Liang Ning Lv He Su

作者单位: Key Lab for Mechanism Theory and Equipment Design, Ministry of Education Department of Mechanical Engineering, Tianjin University No. 92, Weijin Road, Tianjin, China

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 357-362

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）